CN103018757A - Monitoring and display system for position and three-dimensional attitude of floating and semi-submersible type mobile platform - Google Patents
Monitoring and display system for position and three-dimensional attitude of floating and semi-submersible type mobile platform Download PDFInfo
- Publication number
- CN103018757A CN103018757A CN2012105271265A CN201210527126A CN103018757A CN 103018757 A CN103018757 A CN 103018757A CN 2012105271265 A CN2012105271265 A CN 2012105271265A CN 201210527126 A CN201210527126 A CN 201210527126A CN 103018757 A CN103018757 A CN 103018757A
- Authority
- CN
- China
- Prior art keywords
- data
- mobile platform
- module
- acquisition
- pose
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000007667 floating Methods 0.000 title claims abstract description 21
- 238000012544 monitoring process Methods 0.000 title claims abstract description 16
- 230000001360 synchronised effect Effects 0.000 claims abstract description 32
- 238000012545 processing Methods 0.000 claims abstract description 30
- 230000005540 biological transmission Effects 0.000 claims abstract description 24
- 230000005484 gravity Effects 0.000 claims abstract description 8
- 238000005259 measurement Methods 0.000 claims abstract description 5
- 238000005070 sampling Methods 0.000 claims description 19
- 230000033001 locomotion Effects 0.000 claims description 14
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 10
- 230000010354 integration Effects 0.000 claims description 9
- 238000006243 chemical reaction Methods 0.000 claims description 6
- 230000001105 regulatory effect Effects 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract description 14
- 238000000034 method Methods 0.000 abstract description 8
- 238000004088 simulation Methods 0.000 abstract description 4
- 230000002457 bidirectional effect Effects 0.000 abstract 1
- 241001269238 Data Species 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 241001061260 Emmelichthys struhsakeri Species 0.000 description 1
- 235000004522 Pentaglottis sempervirens Nutrition 0.000 description 1
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000005587 bubbling Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000004321 preservation Methods 0.000 description 1
- 239000003643 water by type Substances 0.000 description 1
Images
Landscapes
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
A monitoring and display system for a position and a three-dimensional attitude of a floating and semi-submersible type mobile platform comprises an RTK (real time kinematic) DGPS (differential global position system) positioning module which is used for obtaining positioning data of the mobile platform; a bidirectional gravity type inclinometer module which is used for obtaining longitudinal and transverse inclination data of the mobile platform; a wireless transmission module which is used for transmitting the positioning data and the inclination data to a synchronous collection and processing module; the synchronous collection and processing module which is used for collecting the positioning data and the inclination data synchronously and converting the positioning data into a presupposed type coordinate system; and a real-time three-dimensional animation and information display module which is used for dynamically displaying the position and the three-dimensional attitude of the mobile platform in real time in a three-dimensional simulation mode. By means of the GPS (global position system) and the animated simulation, the monitoring and display system for the position and the three-dimensional attitude of a floating and semi-submersible type mobile platform displays dynamically the position and attitude information of the mobile platform in real time, and has the advantages of being intuitional, efficient and highly-accurate, thereby largely improving the safety in construction and engineering efficiency, and having a high automaticity, an accurate measurement during work process and a wide prospect.
Description
Technical field
The invention belongs to engineering survey and design of Simulation field, relate in particular to a kind of floating and semisubmersible mobile platform orientation and 3 d pose monitoring display system.
Background technology
In fields such as engineering constructions, such as immersed tunnelling method constructing tunnel and marine ships platform etc., need accurately to measure orientation and the 3 d pose of Large-scale Mobile object, docking and assurance engineering safety so that construct, especially for mobile construction work under water, not only require tight security, and whole work progress is below the water surface, the construction area offshore is far away, construction period is long, if particularly engineering waters of living in turbidity is high, also can't see work progress clearly even the underwater camera head is installed, will bring this construction so more highly difficultly, the major accident such as bump easily.Existing classic method is generally felt by the frogman and the method such as measurement data count off is measured, not only efficient is lower and directly perceived not, accurate, in this case, provide a kind of precision to reach centimetre-sized, can be round-the-clock work alone for a long time, orientation, the inclination data of multipoint acquisition mobile platform there is no that the information integrated system that line length Distance Transmission, real-time three-dimensional dynamic model show can provide efficiently work progress, directly perceived, accurately engineering reference simultaneously.So that site operation and managerial personnel can in time understand mobile object orientation, attitude and construction stage, and can carry out playback, analysis, summary to whole work progress after construction, thereby improve construction quality.
Summary of the invention
For existing technical disadvantages, the object of the present invention is to provide a kind of monitoring accuracy to reach centimetre-sized, round-the-clockly work long hours, can carry out that automatic real time data is measured to mobile platform, remote-wireless data transmission and high-precision floating and semisubmersible mobile platform orientation and 3 d pose monitoring display system.
For achieving the above object, technical scheme of the present invention is as follows: a kind of floating and semisubmersible mobile platform orientation and 3 d pose monitoring display system comprise:
The Real-time dynamic GPS Positioning module is for the locator data of obtaining mobile platform;
Two-way gravity type inclinator module is for the vertical and cross dip data of obtaining mobile platform;
Wireless transport module is used for locator data and inclination data are transferred to synchronous data sampling and processing module;
Synchronous data sampling and processing module are used for by synchronous acquisition locator data and inclination data are set, and locator data are carried out origin coordinate system transform, convert the preset kind coordinate system to, and automatically data are preserved with the acquisition time name;
Realtime three dimensional animation and information display module, be used for showing described mobile platform by three-dimensional modeling according to full-size(d) and shape, and show dynamically in real time mobile platform relative orientation and 3 d pose according to the locator data after synchronous data sampling and the processing module processing and inclination data in the three-dimensional artificial mode.
Preferably, described floating and semisubmersible mobile platform orientation and 3 d pose monitoring display system also comprise more than one water-proof CCD camera, are used for taking the described mobile platform interior true environment of setting range on every side;
Described realtime three dimensional animation and information display module also are used for showing the described mobile platform interior equal proportion true environment of setting range on every side.
Preferably, described Real-time dynamic GPS Positioning module comprises the RTK base station of being located at the bank constant bearing and is located at respectively on the mobile platform and is higher than the above A of the water surface and measure two RTK movement stations that tower and B measure tower.
Preferably, described wireless transport module adopts point-to-point wireless bridging mode, comprising:
Power supply and data acquisition interface integration module are arranged at respectively A and measure in tower and the B measurement tower, be used for carrying out independently-powered and the collection related data to instrument and equipment, and data acquisition interface quantity are one or more;
The wireless data transmission antenna is connected for sending data with power supply and data acquisition interface integration module;
The receive data by wireless antenna is fixedly installed on the bank and is connected with processing module with synchronous data sampling, is used for the data that the receiving radio data emitting antenna sends.
Preferably, described wireless data transmission antenna and receive data by wireless antenna adopt omnidirectional or omnidirectional and the qualitative mode that combines.
Preferably, the wireless transmission bandwidth of described wireless transport module is more than 100,000,000.
Particularly, described synchronous data sampling and processing module comprise:
Module is set, is used for regulating on demand data acquisition time interval and the acquisition parameter of acquisition module;
Acquisition module is used for the different baud rates that the receive data by wireless antenna is received and locator data and the inclination data of parameters and carries out synchronous acquisition;
Modular converter is used for the locator data of acquisition module collection is carried out origin coordinate system transform, converts the preset kind coordinate system to;
Memory module is used for the data after all collections and the conversion are stored in data file automatically, and data file is pressed the acquisition time name automatically;
Preferably, described realtime three dimensional animation and information display module also be used in real time dynamic show the mobile platform position angle, with distance and the offsets in height value of point of fixity.
Particularly, described realtime three dimensional animation and information display module comprise:
Data read module is used for the data that reading out data synchronous acquisition and processing module are preserved;
The vision-control module, for the display parameter that three-dimensional animation is set, described display parameter comprise dynamic displaying time interval, playback speed;
Display module is used for the data that data read module reads being shown by setting means according to the display parameter of vision-control module setting described setting means comprises side direction, forward, skeleton view and privileged site feature.
Compared with prior art, the present invention has following beneficial effect: native system adopts the orientation attitude information of the mode Real time dynamic display mobile platform of real time dynamic differential GPS and animation simulation, intuitively, efficient and high precision (centimetre-sized), greatly improve construction safety and engineering efficient, automaticity is high, realization has wide application prospect to any playback and the precise monitoring of whole work progress.
Description of drawings
Fig. 1 is the structural representation of system embodiment one of the present invention.
Fig. 2 is the structural representation of system embodiment two of the present invention.
Fig. 3 is the synoptic diagram of getting a bird's eye view of the present invention.
Fig. 4 is RTK rover station and wireless data transmission antenna structure view.
Embodiment
Below in conjunction with wherein preferred embodiment the present invention program is described in detail.
The structural representation of floating of the present invention and semisubmersible mobile platform orientation and attitude detection system embodiment has been shown among Fig. 1.
As shown in Figure 1, the floating in the present embodiment and semisubmersible mobile platform orientation and attitude detection system include:
Real-time dynamic GPS Positioning module 101 is for the locator data of obtaining mobile platform;
Two-way gravity type inclinator module 102 is for the vertical and cross dip data of obtaining mobile platform;
Wireless transport module 103 is used for locator data and inclination data are transferred to synchronous data sampling and processing module 104;
Synchronous data sampling and processing module 104 are used for by synchronous acquisition locator data and inclination data are set, and locator data are carried out origin coordinate system transform, convert the preset kind coordinate system to, and automatically data are preserved with the acquisition time name;
Realtime three dimensional animation and information display module 105, be used for showing described mobile platform 107 by three-dimensional modeling according to full-size(d) and shape, and show dynamically in real time mobile platform 107 relative orientations and 3 d pose according to the locator data after synchronous data sampling and processing module 104 processing and inclination data in the three-dimensional artificial mode.
According to the system in the present embodiment, it is by the locator data of Real-time dynamic GPS Positioning module 101 Real-time Obtaining mobile platforms, vertical and cross dip data by two-way gravity type inclinator module 102 Real-time Obtaining mobile platforms 107, and be transformed into the coordinate system of preset kind by the locator data of synchronous data sampling and 104 pairs of synchronous acquisitions of processing module, the relative orientation that shows in real time mobile platform 107 by the mode of three-dimensional modeling and emulation, the information such as 3 d pose, so that directly perceived to the monitoring of floating and semisubmersible mobile platform, efficiently, construction safety and engineering efficient have greatly been improved.
Wherein, as shown in Figure 1, in the system of present embodiment, can also include water-proof CCD camera 106, this water-proof CCD camera 106 is be used to taking the true environment in the setting range around the above-mentioned mobile platform 107.At this moment, based on the captured true environment of water-proof CCD camera 106, above-mentioned realtime three dimensional animation and information display module 105 can also be used for showing around the mobile platform 107 equal proportion true environment in the setting range.
Wherein, above-mentioned water-proof CCD camera 106 can be provided with the number of more than one a plurality of, concrete water-proof CCD camera 106, can set according to concrete actual demands such as coverage to surrounding environment,
Fig. 2 is the further refinement to Fig. 1, wherein, above-mentioned Real-time dynamic GPS Positioning module 101 comprises the RTK base station that is arranged at the fixed position, bank and is located at respectively on the mobile platform 107 and the A that is higher than the water surface measures two RTK movement stations 1011 that tower 109 and B measure tower 108, and described A measures tower 109 and B and measures and be provided with power supply and the data acquisition interface integration module 1031 that gathers RTK movement station 1011 and inclinator data in the tower 108.
The synoptic diagram of the set-up mode of above-mentioned Real-time dynamic GPS Positioning module 101 has been shown among Fig. 3.As shown in Figure 3, the RTK base station arranges, is erected at the fixed position on bank, and the A that two RTK movement stations 1011 are arranged at mobile platform 107 and are higher than the water surface measures tower 109, B measures on the tower 108.
Wherein, as shown in Figure 3, Figure 4, above-mentioned wireless transport module 103 adopts point-to-point wireless bridging mode to realize, can comprise that specifically measuring tower 109 and B with A measures the wireless data transmission antenna 1032 that power supply in the tower 108 and data acquisition interface integration module 1031 be connected and be fixedly installed on the receive data by wireless antenna 1033 that bank and synchronous data sampling are connected with processing module 104.Power supply and data acquisition interface integration module 1031 be used for to guarantee the round-the-clock long time continuous working of instrument on the mobile platform and provide to connect and expand each instrument and equipment data-interface, and the quantity of described data-interface can expand as required.Wireless data transmission antenna 1032 and receive data by wireless antenna 1033 adopt omnidirectional or omnidirectional and the qualitative mode that combines, the wireless transmission bandwidth of this wireless transport module 103 can reach more than 100,000,000, measure real-time data transmission that power supply in the tower 108 and data acquisition interface integration module 1031 gather to receive data by wireless antenna 1033(control center on the bank so that A can be measured tower 109 and B), data transmission is stablized, long transmission distance and delay time low.
Two-way gravity type inclinator module 102 is installed in the mobile platform 107 or on the upper surface, and be arranged on A and measure power supply and the data acquisition interface integration module 1031 that tower 109 or B measure on 108 towers and be connected.
In conjunction with being example shown in Fig. 2, vertical and the cross dip data communication device that two-way gravity type inclinator module 102 gathers is crossed wireless transport module 103 and is sent it back control center on the bank, control center receives the vertical and cross dip data that wireless transport module 103 sends by synchronous data sampling and processing module 104, and the locator data of the mobile platform 107 of reception Real-time dynamic GPS Positioning module 101 transmission, and the locator data that receives carried out conversion process and preservation, the data after the processing offer realtime three dimensional animation and information display module 105 and carry out the three-dimensional of relative orientation and attitude and show in real time.
All transmission equipments, circuit etc. all concentrate on inside the caisson simultaneously, and waterproof also can be worked under 70 degrees centigrade hot environment.
In order to determine orientation, position angle and the attitude of mobile platform 107, need to measure by A the three-dimensional coordinate of unique point on the vertical and horizontal angle of inclination inverse mobile platform 107 that tower 109 and B measure the coordinate of tower 108 and whole platform.Need to measure first A and measure tower 109 and B and measure RTK movement station 1011 on the tower 108 with respect to the orientation of whole mobile platform 107, need here to measure its with the horizontal range xr of mobile platform 107 axis, with apart from the horizontal range yr of side and and the vertical height hr of mobile platform 107 upper surfaces.Thereby because the size of mobile platform 107 known (length and width are high), measured the gps coordinate (x1 of RTK movement station 1011 on tower 109 and the B two measurement towers 108 by A, y1, h1 and x2, y2 and h2), RTK movement station 1011 is with respect to the relative orientation (xr1 of mobile platform 107, yr1, hr1 and xr2, yr2 and hr2) and trim and the heel (q1 and q2) of whole mobile platform 107 can go out planimetric coordinates and the elevation of any point on the whole mobile platform 107 by inverse, thereby further can calculate the plan range of mobile platform 107 and other known points, the information such as the discrepancy in elevation and axis deviation.
As shown in Figure 2, described synchronous data sampling and processing module 104 comprise: module 1041 is set, is used for regulating on demand data acquisition time interval and the acquisition parameter of acquisition module 1044; Modular converter 1042 is used for the locator data that acquisition module 1044 gathers is carried out origin coordinate system transform, converts the preset kind coordinate system to; As be converted to 2000 national earth coordinates by WGS-84.Acquisition module 1044, be used for the different baud rates that receive data by wireless antenna 1033 is received and locator data and the inclination data of parameters and carry out synchronous acquisition, guarantee that bearing data and degree of tilt data belong to synchronization, thereby obtain accurate orientation and the attitude in a certain moment of mobile platform; Memory module 1043 is used for the data after all collections and the conversion are stored in data file automatically, and data file is pressed the acquisition time name automatically, is convenient to carry out the historical data playback.
As shown in Figure 3, the course of work of this system is as follows: the locator data of obtaining mobile platform 107 by the Real-time dynamic GPS Positioning module that is comprised of 2 RTK movement stations on the RTK base station that is arranged on the fixed position, bank and the mobile platform 107, simultaneously, by be arranged on the two-way gravity dip angle instrument in precalculated position on the mobile platform 107 obtain mobile platform 107 vertically and the transverse pitch angle, water-proof CCD camera 106 obtains near the true environment data the mobile platform 107, wireless transport module 103 adopts point-to-point wireless bridging mode, with above-mentioned data by with the wireless data transmission antenna remote wireless transmission of three orientations and omnidirectional antenna to the receive data by wireless antenna 110 of being located at the bank, receive data by wireless antenna 110 is delivered to synchronous data sampling and processing module 104 with the data that receive, through coordinate conversion and the processing to locator data, data after the processing offer realtime three dimensional animation and information display module 105 is carried out the three-dimensional in real time demonstration of relative orientation and attitude, this synchronous data sampling and processing module 104 can two RTK movement station 1011 locator datas of synchronous acquisition reach vertically and cross dip instrument data, invalid and abnormal data are filtered, the GPS locator data that receives is carried out origin coordinate system transform, automatically convert the local local coordinate system that adopts to.Can regulate on demand data acquisition time interval and acquisition parameter, all data are stored in data file automatically, and data file is pressed the acquisition time name automatically, conveniently checks.
Described realtime three dimensional animation and information display module 105 comprise:
Data read module 1051 is used for the data that reading out data synchronous acquisition and processing module are preserved, such as coordinate data, inclination data, video data, mobile platform position angle, and the distance of point of fixity and offsets in height value etc.;
Vision-control module 1052, for the display parameter that three-dimensional animation is set, described display parameter comprise dynamic displaying time interval, playback speed, carry out playback by arbitrary time span and speed;
Display module 1053, be used for according to the display parameter that vision-control module 1052 arranges the data that data read module reads being shown by setting means, described setting means comprises side direction, forward, skeleton view and privileged site feature etc., in order to comprehensively accurate the observation carried out at mobile platform 107 each positions.
Pass through three-dimensional modeling, realtime three dimensional animation and information display module 105 can not only show mobile platform 107 according to full-size(d) and shape, show simultaneously the mobile platform 107 interior equal proportion true environment of certain limit on every side, thereby can be according to receiving to such an extent that Monitoring Data shows relative orientation (such as the deviation distance of distance objective point or score of mobile platform 107 in real time, deviation angle etc.), 3 d pose (the position angle of mobile platform 107, vertically reach cross dip, the discrepancy in elevation at mobile platform 107 two ends etc.) information such as, and with the real-time dynamic animation 3-D display of the mode handle of emulation out, the three-dimensional artificial object keeps highly consistent with the motion of on-the-spot mobile platform 107.All historical datas are preserved in real time, can carry out the accurate playback of three-dimensional motion process to whole work progress after work progress, regulate arbitrarily playback speed, thereby can carry out careful check and summary of experience to whole work progress.
Compared with prior art, native system has following beneficial effect:
Native system can to the degree of depth of bubbling through the water column and dive beneath the water position and obtain attitude data less than 20 meters Large-scale Mobile platform 107 and the three-dimensional model that passes through to set up Real time dynamic display out the relative orientation of mobile platform 107 and attitude (the two ends discrepancy in elevation and misalignment of axe etc.).Consider mobile platform 107 and the difficulty of control point data transmission on the bank in the water, all data, comprise that video flowing, GPS locator data and inclinator data etc. all adopt the wireless two-way transmission, surpass 100,000,000 with Time Bandwidth, guaranteed the smoothness of data transmission, transmission range can reach 1.5 kilometers, considers that simultaneously the orientation of mobile platform 107 may be in any direction, so transmit antenna adopts mode that 360 degree omnidirectional antennas and directional antenna combine to guarantee the stability of wireless data.Data acquisition software system can gather two GPS bearing datas and vertical and horizontal inclination data simultaneously, simultaneously the GPS locator data is carried out coordinate conversion so that the local coordinate system that adopts keeps unified.Three-dimensional real-time animation display system can show relative orientation (such as the deviation distance of distance objective point or score of mobile platform 107 simultaneously, deviation angle etc.), 3 d pose (the position angle of mobile platform 107, vertically reach cross dip, the discrepancy in elevation at mobile platform 107 two ends etc.) information such as, and with the real-time dynamic animation 3-D display of the mode handle of emulation out, the three-dimensional artificial object keeps highly consistent with the motion of on-the-spot mobile platform 107, precision reaches centimetre-sized, shown being sent in real time reaching of bank water-proof CCD camera picture waterborne under water simultaneously, both can check one against another, thereby so that monitoring means are very directly perceived, efficiently.All historical datas are all preserved in real time, can after work progress, carry out the accurate playback of three-dimensional motion process to whole work progress, regulate arbitrarily playback speed, thereby can carry out careful check and summary of experience to whole work progress, can be widely used in location, position angle and 3 d pose demonstration and the information observing and controlling etc. of river engineering construction (such as the river-crossing tunnel of immersed tunnelling method construction), naval vessel, sea platform (such as oil tanker, mobile drilling platform etc.) and other floating and semisubmersible (being no more than 20 meters the degree of depth) mobile platform 107.The real-time status of mobile platform 107 be can show intuitively, efficiently, accurately, construction safety and engineering efficient greatly improved.
Above-described only is preferred implementation of the present invention, the invention is not restricted to above case study on implementation.Be appreciated that other improvement and variation that those skilled in the art directly derive or associate under the prerequisite that does not break away from spirit of the present invention and design, all should think to be included within protection scope of the present invention.
Claims (9)
1. a floating and semisubmersible mobile platform orientation and 3 d pose monitoring display system is characterized in that, comprising:
The Real-time dynamic GPS Positioning module is for the locator data of obtaining mobile platform;
Two-way gravity type inclinator module is for the vertical and cross dip data of obtaining mobile platform;
Wireless transport module is used for locator data and inclination data are transferred to synchronous data sampling and processing module;
Synchronous data sampling and processing module are used for by synchronous acquisition locator data and inclination data are set, and locator data are carried out origin coordinate system transform, convert the preset kind coordinate system to, and automatically data are preserved with the acquisition time name;
Realtime three dimensional animation and information display module, be used for showing described mobile platform by three-dimensional modeling according to full-size(d) and shape, and show dynamically in real time mobile platform relative orientation and 3 d pose according to the locator data after synchronous data sampling and the processing module processing and inclination data in the three-dimensional artificial mode.
2. floating according to claim 1 and semisubmersible mobile platform orientation and 3 d pose are monitored display system, it is characterized in that:
Also comprise the more than one water-proof CCD camera that is connected with wireless transport module, be used for taking the described mobile platform interior true environment of setting range on every side;
Described realtime three dimensional animation and information display module also are used for showing the described mobile platform interior equal proportion true environment of setting range on every side.
3. floating according to claim 1 and 2 and semisubmersible mobile platform orientation and 3 d pose are monitored display system, it is characterized in that described Real-time dynamic GPS Positioning module comprises the RTK base station of being located at the bank constant bearing and is located at respectively on the mobile platform and is higher than the above A of the water surface and measure two RTK movement stations that tower and B measure tower.
4. floating according to claim 1 and 2 and semisubmersible mobile platform orientation and 3 d pose are monitored display system, it is characterized in that described wireless transport module adopts point-to-point wireless bridging mode, comprising:
Power supply and data acquisition interface integration module are arranged at respectively A and measure in tower and the B measurement tower, be used for carrying out independently-powered and the collection related data to instrument and equipment, and data acquisition interface quantity are one or more;
The wireless data transmission antenna is connected for sending data with power supply and data acquisition interface integration module;
The receive data by wireless antenna is fixedly installed on the bank and is connected with processing module with synchronous data sampling, is used for the data that the receiving radio data emitting antenna sends.
5. floating according to claim 4 and semisubmersible mobile platform orientation and 3 d pose monitoring display system is characterized in that: described wireless data transmission antenna and receive data by wireless antenna employing omnidirectional or omnidirectional and the qualitative mode that combines.
6. floating according to claim 5 and semisubmersible mobile platform orientation and 3 d pose are monitored display system, and it is characterized in that: the wireless transmission bandwidth of described wireless transport module is more than 100,000,000.
7. floating according to claim 1 and 2 and semisubmersible mobile platform orientation and 3 d pose are monitored display system, it is characterized in that described synchronous data sampling and processing module comprise:
Module is set, is used for regulating on demand data acquisition time interval and the acquisition parameter of acquisition module;
Acquisition module is used for the different baud rates that the receive data by wireless antenna is received and locator data and the inclination data of parameters and carries out synchronous acquisition;
Modular converter is used for the locator data of acquisition module collection is carried out origin coordinate system transform, converts the preset kind coordinate system to;
Memory module is used for the data after all collections and the conversion are stored in data file automatically, and data file is pressed the acquisition time name automatically.
8. floating according to claim 1 and 2 and semisubmersible mobile platform orientation and 3 d pose monitoring display system is characterized in that: described realtime three dimensional animation and information display module also be used in real time dynamic show the mobile platform position angle, with distance and the offsets in height value of point of fixity.
9. floating according to claim 8 and semisubmersible mobile platform orientation and 3 d pose are monitored display system, it is characterized in that described realtime three dimensional animation and information display module comprise:
Data read module is used for the data that reading out data synchronous acquisition and processing module are preserved;
The vision-control module, for the display parameter that three-dimensional animation is set, described display parameter comprise dynamic displaying time interval, playback speed;
Display module is used for the data that data read module reads being shown by setting means according to the display parameter of vision-control module setting described setting means comprises side direction, forward, skeleton view and privileged site feature.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210527126.5A CN103018757B (en) | 2012-12-10 | 2012-12-10 | Monitoring and display system for position and three-dimensional attitude of floating and semi-submersible type mobile platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210527126.5A CN103018757B (en) | 2012-12-10 | 2012-12-10 | Monitoring and display system for position and three-dimensional attitude of floating and semi-submersible type mobile platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103018757A true CN103018757A (en) | 2013-04-03 |
| CN103018757B CN103018757B (en) | 2015-04-22 |
Family
ID=47967573
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210527126.5A Active CN103018757B (en) | 2012-12-10 | 2012-12-10 | Monitoring and display system for position and three-dimensional attitude of floating and semi-submersible type mobile platform |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103018757B (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103425054A (en) * | 2013-08-21 | 2013-12-04 | 国家电网公司 | Electric power tunnel construction control method based on digitization |
| CN105043355A (en) * | 2015-05-13 | 2015-11-11 | 西安科技大学 | Side slope micro-deformation monitoring method and side slope micro-deformation monitoring system based on similarity determination criterion |
| CN105651254A (en) * | 2016-02-23 | 2016-06-08 | 吉林大学 | Road slope computation method based on road alignment and spectrum features |
| CN107067447A (en) * | 2017-01-26 | 2017-08-18 | 安徽天盛智能科技有限公司 | A kind of integration video frequency monitoring method in large space region |
| CN107167828A (en) * | 2017-05-22 | 2017-09-15 | 大连理工大学 | A kind of soft firm arm moored float attitude measurement system and method based on real-time requiring technology |
| CN108762165A (en) * | 2018-06-28 | 2018-11-06 | 辽宁工业大学 | A kind of vehicle condition investigating method |
| CN109324629A (en) * | 2017-07-31 | 2019-02-12 | 上海交通大学 | In the air, the water surface and underwater dwell aircraft and its control method more |
| CN109625202A (en) * | 2019-01-22 | 2019-04-16 | 广州航海学院 | A kind of system of the anti-heel of ship |
| CN109631874A (en) * | 2018-12-11 | 2019-04-16 | 四川省交通运输厅交通勘察设计研究院 | The method of real-time stream is superimposed on three-dimensional electronic navigation channel chart |
| CN110463572A (en) * | 2019-08-01 | 2019-11-19 | 上海交通大学 | A kind of method and device obtaining variable irrigation sprinkler spray head real time position |
| CN111024178A (en) * | 2019-12-16 | 2020-04-17 | 大连理工大学 | Floating ocean platform ballast monitoring system and method for calculating volume of liquid in tank |
| CN112129454A (en) * | 2020-08-20 | 2020-12-25 | 中山大学 | Three-degree-of-freedom force measuring device and method |
| CN112504260A (en) * | 2020-10-28 | 2021-03-16 | 中铁大桥局集团第五工程有限公司 | Real-time positioning and measuring method for structural object attitude based on cloud network |
| CN113108762A (en) * | 2021-04-28 | 2021-07-13 | 中交第三航务工程局有限公司 | Marine suction bucket gesture monitoring transmission system |
| CN114439042A (en) * | 2022-04-11 | 2022-05-06 | 中交第一航务工程局有限公司 | Immersed tube tunnel installation precision testing method |
| CN114459433A (en) * | 2022-01-05 | 2022-05-10 | 中国船舶重工集团公司七五0试验场 | Underwater sound response type multi-target inclination angle synchronous acquisition system and method |
| CN116164715A (en) * | 2022-12-21 | 2023-05-26 | 中交第一航务工程局有限公司 | Underwater posture rechecking method for push type final joint |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2901337Y (en) * | 2006-05-25 | 2007-05-16 | 中国兵器工业第二○六研究所 | General GPS positioning and orienting instrument |
| CN101446634A (en) * | 2007-11-28 | 2009-06-03 | 中国科学院电子学研究所 | Combination measurement method for high precision position, azimuth angle and pitch angle, and device thereof |
| CN201464864U (en) * | 2009-07-07 | 2010-05-12 | 上海海事大学 | All-digital device for monitoring operation posture of floating crane in hoisting |
| CN101769225A (en) * | 2008-12-30 | 2010-07-07 | 中国海洋大学 | Lift-type double floating body tidal power generating platform |
| CN101780921A (en) * | 2009-06-09 | 2010-07-21 | 上海海事大学 | Method for monitoring work attitude and safety of hoisting operation of floating crane |
| CN102312436A (en) * | 2010-07-02 | 2012-01-11 | 南通市海洋水建工程有限公司 | Steel pipe pile sinking construction technology |
| CN202120123U (en) * | 2011-06-24 | 2012-01-18 | 石家庄环祥科技有限公司 | Automatic wireless remote-control sampling monitoring boat |
| CN102400454A (en) * | 2011-11-11 | 2012-04-04 | 武汉船用机械有限责任公司 | Automatic control method and device for lifting ocean platform |
-
2012
- 2012-12-10 CN CN201210527126.5A patent/CN103018757B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2901337Y (en) * | 2006-05-25 | 2007-05-16 | 中国兵器工业第二○六研究所 | General GPS positioning and orienting instrument |
| CN101446634A (en) * | 2007-11-28 | 2009-06-03 | 中国科学院电子学研究所 | Combination measurement method for high precision position, azimuth angle and pitch angle, and device thereof |
| CN101769225A (en) * | 2008-12-30 | 2010-07-07 | 中国海洋大学 | Lift-type double floating body tidal power generating platform |
| CN101780921A (en) * | 2009-06-09 | 2010-07-21 | 上海海事大学 | Method for monitoring work attitude and safety of hoisting operation of floating crane |
| CN201464864U (en) * | 2009-07-07 | 2010-05-12 | 上海海事大学 | All-digital device for monitoring operation posture of floating crane in hoisting |
| CN102312436A (en) * | 2010-07-02 | 2012-01-11 | 南通市海洋水建工程有限公司 | Steel pipe pile sinking construction technology |
| CN202120123U (en) * | 2011-06-24 | 2012-01-18 | 石家庄环祥科技有限公司 | Automatic wireless remote-control sampling monitoring boat |
| CN102400454A (en) * | 2011-11-11 | 2012-04-04 | 武汉船用机械有限责任公司 | Automatic control method and device for lifting ocean platform |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103425054A (en) * | 2013-08-21 | 2013-12-04 | 国家电网公司 | Electric power tunnel construction control method based on digitization |
| CN103425054B (en) * | 2013-08-21 | 2016-01-27 | 国家电网公司 | A kind of based on digitized electric power tunnel construction control method |
| CN105043355A (en) * | 2015-05-13 | 2015-11-11 | 西安科技大学 | Side slope micro-deformation monitoring method and side slope micro-deformation monitoring system based on similarity determination criterion |
| CN105651254B (en) * | 2016-02-23 | 2018-02-27 | 吉林大学 | Algorithm of road slope estimation based on road alignment and spectrum signature |
| CN105651254A (en) * | 2016-02-23 | 2016-06-08 | 吉林大学 | Road slope computation method based on road alignment and spectrum features |
| CN107067447A (en) * | 2017-01-26 | 2017-08-18 | 安徽天盛智能科技有限公司 | A kind of integration video frequency monitoring method in large space region |
| CN107067447B (en) * | 2017-01-26 | 2020-10-16 | 安徽天盛智能科技有限公司 | Integrated video monitoring method for large spatial region |
| CN107167828A (en) * | 2017-05-22 | 2017-09-15 | 大连理工大学 | A kind of soft firm arm moored float attitude measurement system and method based on real-time requiring technology |
| CN109324629A (en) * | 2017-07-31 | 2019-02-12 | 上海交通大学 | In the air, the water surface and underwater dwell aircraft and its control method more |
| CN108762165A (en) * | 2018-06-28 | 2018-11-06 | 辽宁工业大学 | A kind of vehicle condition investigating method |
| CN109631874A (en) * | 2018-12-11 | 2019-04-16 | 四川省交通运输厅交通勘察设计研究院 | The method of real-time stream is superimposed on three-dimensional electronic navigation channel chart |
| CN109625202A (en) * | 2019-01-22 | 2019-04-16 | 广州航海学院 | A kind of system of the anti-heel of ship |
| CN110463572B (en) * | 2019-08-01 | 2021-10-15 | 上海交通大学 | Method and device for acquiring real-time position of nozzle of variable-rate sprinkler |
| CN110463572A (en) * | 2019-08-01 | 2019-11-19 | 上海交通大学 | A kind of method and device obtaining variable irrigation sprinkler spray head real time position |
| CN111024178A (en) * | 2019-12-16 | 2020-04-17 | 大连理工大学 | Floating ocean platform ballast monitoring system and method for calculating volume of liquid in tank |
| CN112129454A (en) * | 2020-08-20 | 2020-12-25 | 中山大学 | Three-degree-of-freedom force measuring device and method |
| CN112504260A (en) * | 2020-10-28 | 2021-03-16 | 中铁大桥局集团第五工程有限公司 | Real-time positioning and measuring method for structural object attitude based on cloud network |
| CN112504260B (en) * | 2020-10-28 | 2023-08-25 | 中铁大桥局集团第五工程有限公司 | Real-time positioning measurement method for structural object posture based on cloud network |
| CN113108762A (en) * | 2021-04-28 | 2021-07-13 | 中交第三航务工程局有限公司 | Marine suction bucket gesture monitoring transmission system |
| CN114459433A (en) * | 2022-01-05 | 2022-05-10 | 中国船舶重工集团公司七五0试验场 | Underwater sound response type multi-target inclination angle synchronous acquisition system and method |
| CN114439042A (en) * | 2022-04-11 | 2022-05-06 | 中交第一航务工程局有限公司 | Immersed tube tunnel installation precision testing method |
| CN114439042B (en) * | 2022-04-11 | 2022-06-17 | 中交第一航务工程局有限公司 | Immersed tube tunnel installation precision testing method |
| CN116164715A (en) * | 2022-12-21 | 2023-05-26 | 中交第一航务工程局有限公司 | Underwater posture rechecking method for push type final joint |
| CN116164715B (en) * | 2022-12-21 | 2023-09-19 | 中交第一航务工程局有限公司 | Underwater posture rechecking method for push type final joint |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103018757B (en) | 2015-04-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103018757B (en) | Monitoring and display system for position and three-dimensional attitude of floating and semi-submersible type mobile platform | |
| CN102495420B (en) | Underwater object precision positioning system and method | |
| CN111366962A (en) | Deep open sea low-cost long-endurance collaborative navigation positioning system | |
| CN203069788U (en) | Orientation and three-dimensional attitude monitoring display system for floating and semisubmersible moving platform | |
| CN104777845A (en) | Underwater main body device of underwater robot and autonomous obstacle avoidance method | |
| CN105159320A (en) | Underwater target detection platform system suitable for complex water area and using method thereof | |
| CN106898249B (en) | A kind of map constructing method for earthquake-stricken area communication failure region | |
| Tian et al. | Design and application of a monitoring system for the floatover installation | |
| CN106595608B (en) | The general surveying instrument of distributed interactive | |
| KR100805358B1 (en) | Depth-sounding apparatus mounted remote control survey ship using wireless internet and dgps | |
| KR20160055609A (en) | Underwater IMR (Installation, Maintenance, and Repair) Task Management System and Its Method | |
| CN109631857A (en) | A kind of more unmanned boats joint islands and reefs mapping system and method | |
| CN115166805A (en) | Beidou-based FPSO (Floating production storage and offloading) six-degree-of-freedom monitoring system and method | |
| CN104977005A (en) | Precise standing exercise navigation system of mobile offshore platform | |
| CN112946685A (en) | Wharf berthing safety monitoring system and method based on three-dimensional laser radar | |
| CN104652442A (en) | Positioning system for deep water backfilling operation | |
| US20230400302A1 (en) | Systems and methods for measuring water capacity of polar lakes | |
| CN114114361B (en) | Offshore platform precise positioning auxiliary system based on GNSS and working method | |
| WO2023071703A1 (en) | Multi-ship motion attitude real-time monitoring system | |
| CN204662454U (en) | A kind of deep water backfill operation navigation system | |
| CN206321246U (en) | The general surveying instrument of distributed interactive | |
| CN105109618B (en) | A kind of offshore platform butt junction location bootstrap technique | |
| RU110503U1 (en) | HYDROACOUSTIC SYSTEM OF UNDERWATER NAVIGATION FOR DIVERS AND THE UNDERWATER DIVER UNIT | |
| CN115075307A (en) | Immersed tunnel pipe section sinking butt joint space positioning monitoring system and method | |
| CN113534268A (en) | Marine investigation method and marine investigation cooperation device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant |